/*
 * Copyright 2017 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_SENSOR_IMU_DATA_H_
#define CARTOGRAPHER_SENSOR_IMU_DATA_H_

#include "Eigen/Core"
#include "cartographer/common/time.h"
#include "cartographer/sensor/proto/sensor.pb.h"

namespace cartographer
{
    namespace sensor
    {
        struct ImuData
        {
            common::Time time;
            Eigen::Vector3d linear_acceleration;
            Eigen::Vector3d angular_velocity;
        };

        // Converts 'imu_data' to a proto::ImuData.
        proto::ImuData ToProto(const ImuData &imu_data);

        // Converts 'proto' to an ImuData.
        ImuData FromProto(const proto::ImuData &proto);

    } // namespace sensor
} // namespace cartographer

#endif // CARTOGRAPHER_SENSOR_IMU_DATA_H_
